Ensure your kids are reasonably happy. It's not super expensive, they don't need a trip to Disney World every year or anything. Try not to let them make obvious, life altering mistakes. Past that, just enjoy the ride.
Do you mean ROI for the parent (satisfaction of spending time with your child) or for the child? It seems counter-intuitive but I believe a lot of research has shown that upbringing actually doesn't matter too much, provided you meet a certain obvious threshold (giving them proper food, not abusing them, etc)
Source: https://www.amazon.com/Selfish-Reasons-Have-More-Kids/dp/046...
Caplan's "Selfish Reasons to Have More Kids" (https://www.amazon.com/Selfish-Reasons-Have-More-Kids/dp/046...) has some data showing that parents are putting more and more time into children. (And his argument is that it is mostly unnecessary, i.e. it doesn't correspond to improved outcomes for children, given a relatively normal stable family.) I wonder how much of this is just changed social expectations (e.g. call Police / Child Services if you see a kid walking home along from school), how much is social signaling, how much is reduced family support.
2. Human life is its own good.
3. Bryan Caplan discusses this and many other interesting topics in Selfish Reasons to Have More Kids: Why Being a Great Parent is Less Work and More Fun Than You Think https://www.amazon.com/Selfish-Reasons-Have-More-Kids/dp/046....
https://www.amazon.com/Selfish-Reasons-Have-More-Kids/dp/046...